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-rw-r--r--opentrack-logic/simple-mat.hpp279
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diff --git a/opentrack-logic/simple-mat.hpp b/opentrack-logic/simple-mat.hpp
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-/* Copyright (c) 2014-2016, Stanislaw Halik <sthalik@misaki.pl>
-
- * Permission to use, copy, modify, and/or distribute this
- * software for any purpose with or without fee is hereby granted,
- * provided that the above copyright notice and this permission
- * notice appear in all copies.
- */
-
-#pragma once
-
-#include "export.hpp"
-
-#include <initializer_list>
-#include <type_traits>
-#include <utility>
-
-namespace {
- // last param to fool SFINAE into overloading
- template<int i, int j, int>
- struct equals
- {
- enum { value = i == j };
- };
- template<int i, int j, int min>
- struct maybe_add_swizzle
- {
- enum { value = (i == 1 || j == 1) && (i >= min || j >= min) };
- };
- template<int i1, int j1, int i2, int j2>
- struct is_vector_pair
- {
- enum { value = (i1 == i2 && j1 == 1 && j2 == 1) || (j1 == j2 && i1 == 1 && i2 == 1) };
- };
- template<int i, int j>
- struct vector_len
- {
- enum { value = i > j ? i : j };
- };
- template<int a, int b, int c, int d>
- struct is_dim3
- {
- enum { value = (a == 1 && c == 1 && b == 3 && d == 3) || (a == 3 && c == 3 && b == 1 && d == 1) };
- enum { P = a == 1 ? 1 : 3 };
- enum { Q = a == 1 ? 3 : 1 };
- };
-
- template<typename num, int h, int w, typename...ts>
- struct is_arglist_correct
- {
- enum { value = h * w == sizeof...(ts) };
- };
-}
-
-template<typename num, int h_, int w_>
-class Mat
-{
- static_assert(h_ > 0 && w_ > 0, "must have positive mat dimensions");
- num data[h_][w_];
-
-public:
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 0>::value, num>::type
- inline operator()(int i) const { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 1>::value, num>::type
- inline operator()(int i) const { return data[0][i]; }
-
- template<int Q = w_> typename std::enable_if<equals<Q, 1, 2>::value, num&>::type
- inline operator()(int i) { return data[i][0]; }
-
- template<int P = h_> typename std::enable_if<equals<P, 1, 3>::value, num&>::type
- inline operator()(int i) { return data[0][i]; }
-
-#define OPENTRACK_ASSERT_SWIZZLE static_assert(P == h_ && Q == w_, "")
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num>::type
- x() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(0); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num>::type
- y() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(1); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num>::type
- z() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(2); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num>::type
- w() const { OPENTRACK_ASSERT_SWIZZLE; return operator()(3); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 1>::value, num&>::type
- x() { OPENTRACK_ASSERT_SWIZZLE; return operator()(0); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 2>::value, num&>::type
- y() { OPENTRACK_ASSERT_SWIZZLE; return operator()(1); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 3>::value, num&>::type
- z() { OPENTRACK_ASSERT_SWIZZLE; return operator()(2); }
-
- template<int P = h_, int Q = w_> typename std::enable_if<maybe_add_swizzle<P, Q, 4>::value, num&>::type
- w() { OPENTRACK_ASSERT_SWIZZLE; return operator()(3); }
- // parameters w_ and h_ are rebound so that SFINAE occurs
- // removing them causes a compile-time error -sh 20150811
-
- template<int R, int S, int P = h_, int Q = w_>
- typename std::enable_if<is_vector_pair<R, S, P, Q>::value, num>::type
- dot(const Mat<num, R, S>& p2) const
- {
- static_assert(P == h_ && Q == w_, "");
-
- num ret = 0;
- constexpr int len = vector_len<R, S>::value;
- for (int i = 0; i < len; i++)
- ret += operator()(i) * p2(i);
- return ret;
- }
-
- template<int R, int S, int P = h_, int Q = w_>
- typename std::enable_if<is_dim3<P, Q, R, S>::value, Mat<num, is_dim3<P, Q, R, S>::P, is_dim3<P, Q, R, S>::Q>>::type
- cross(const Mat<num, R, S>& p2) const
- {
- static_assert(P == h_ && Q == w_, "");
- decltype(*this)& p1 = *this;
-
- return Mat<num, R, S>(p1.y() * p2.z() - p2.y() * p1.z(),
- p2.x() * p1.z() - p1.x() * p2.z(),
- p1.x() * p2.y() - p1.y() * p2.x());
- }
-
- Mat<num, h_, w_> operator+(const Mat<num, h_, w_>& other) const
- {
- Mat<num, h_, w_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(j, i) = data[j][i] + other.data[j][i];
- return ret;
- }
-
- Mat<num, h_, w_> operator-(const Mat<num, h_, w_>& other) const
- {
- Mat<num, h_, w_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(j, i) = data[j][i] - other.data[j][i];
- return ret;
- }
-
- Mat<num, h_, w_> operator+(const num& other) const
- {
- Mat<num, h_, w_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(j, i) = data[j][i] + other;
- return ret;
- }
-
- Mat<num, h_, w_> operator-(const num& other) const
- {
- Mat<num, h_, w_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(j, i) = data[j][i] - other;
- return ret;
- }
-
- template<int p>
- Mat<num, h_, p> operator*(const Mat<num, w_, p>& other) const
- {
- Mat<num, h_, p> ret;
- for (int k = 0; k < h_; k++)
- for (int i = 0; i < p; i++)
- {
- ret(k, i) = 0;
- for (int j = 0; j < w_; j++)
- ret(k, i) += data[k][j] * other(j, i);
- }
- return ret;
- }
-
- inline num operator()(int j, int i) const { return data[j][i]; }
- inline num& operator()(int j, int i) { return data[j][i]; }
-
- template<typename... ts, int h__ = h_, int w__ = w_,
- typename = typename std::enable_if<is_arglist_correct<num, h__, w__, ts...>::value>::type>
- Mat(const ts... xs)
- {
- static_assert(h__ == h_ && w__ == w_, "");
-
- std::initializer_list<num> init = { static_cast<num>(xs)... };
-
- *this = Mat(std::move(init));
- }
-
- Mat()
- {
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- data[j][i] = num(0);
- }
-
- Mat(const num* mem)
- {
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- data[j][i] = mem[i*h_+j];
- }
-
- Mat(std::initializer_list<num>&& init)
- {
- auto iter = init.begin();
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- data[j][i] = *iter++;
- }
-
- operator num*() { return reinterpret_cast<num*>(data); }
- operator const num*() const { return reinterpret_cast<const num*>(data); }
-
- // XXX add more operators as needed, third-party dependencies mostly
- // not needed merely for matrix algebra -sh 20141030
-
- template<int h__ = h_>
- static typename std::enable_if<h_ == w_, Mat<num, h__, h__>>::type eye()
- {
- static_assert(h_ == h__, "");
-
- Mat<num, h_, h_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret.data[j][i] = 0;
-
- for (int i = 0; i < h_; i++)
- ret.data[i][i] = 1;
-
- return ret;
- }
-
- Mat<num, w_, h_> t() const
- {
- Mat<num, w_, h_> ret;
-
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(i, j) = data[j][i];
-
- return ret;
- }
-};
-
-template<int h_, int w_> using dmat = Mat<double, h_, w_>;
-
-template<typename num, int h, int w>
-Mat<num, h, w> operator*(num scalar, const Mat<num, h, w>& mat)
-{
- return mat * scalar;
-}
-
-template<typename num, int h_, int w_>
-Mat<num, h_, w_> operator*(const Mat<num, h_, w_>& self, num other)
-{
- Mat<num, h_, w_> ret;
- for (int j = 0; j < h_; j++)
- for (int i = 0; i < w_; i++)
- ret(j, i) = self(j, i) * other;
- return ret;
-}
-
-namespace euler {
-
-template<int y, int x> using dmat = Mat<double, y, x>;
-using rmat = dmat<3, 3>;
-using euler_t = dmat<3, 1>;
-
-rmat OPENTRACK_LOGIC_EXPORT euler_to_rmat(const euler_t& input);
-
-euler_t OPENTRACK_LOGIC_EXPORT rmat_to_euler(const rmat& R);
-
-void OPENTRACK_LOGIC_EXPORT tait_bryan_to_matrices(const euler_t& input,
- rmat& r_roll,
- rmat& r_pitch,
- rmat& r_yaw);
-
-} // end ns euler
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